add CAN example app

examples/embassy/Cargo.toml

@@ -18,6 +18,7 @@ static_cell = "2"
 critical-section = "1"
 ringbuf = { version = "0.4", default-features = false }
 
+nb = "1"
 embassy-sync = "0.6"
 embassy-time = "0.4"
 embassy-executor = { version = "0.7", features = [

examples/embassy/src/bin/can.rs

@@ -0,0 +1,57 @@
+#![no_std]
+#![no_main]
+
+// Import panic provider.
+use panic_probe as _;
+// Import logger.
+use defmt_rtt as _;
+
+use embassy_example::EXTCLK_FREQ;
+use embassy_executor::Spawner;
+use va416xx_hal::can::asynch::on_interrupt_can;
+use va416xx_hal::can::{Can, CanFrame, CanFrameNormal, CanId, CanRx, CanTx, ClockConfig};
+use va416xx_hal::clock::ClockConfigurator;
+use va416xx_hal::pac::{self, interrupt};
+use va416xx_hal::time::Hertz;
+use va416xx_hal::{can, prelude::*};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    defmt::println!("-- VA416xx CAN Demo --");
+
+    let dp = pac::Peripherals::take().unwrap();
+
+    // Initialize the systick interrupt & obtain the token to prove that we did
+    // Use the external clock connected to XTAL_N.
+    let clocks = ClockConfigurator::new(dp.clkgen)
+        .xtal_n_clk_with_src_freq(Hertz::from_raw(EXTCLK_FREQ))
+        .freeze()
+        .unwrap();
+    // Safety: Only called once here.
+    va416xx_embassy::init(dp.tim15, dp.tim14, &clocks);
+    let clk_config = ClockConfig::from_bitrate_and_segments(&clocks, 250.kHz(), 16, 4, 4).unwrap();
+    let mut can = Can::new(dp.can0, clk_config);
+    can.set_loopback(true);
+    can.set_bufflock(true);
+    can.set_base_mask_for_all_match();
+    can.enable();
+    let mut channels = can.take_channels().unwrap();
+    // Transmit channel.
+    let mut tx = CanTx::new(channels.take(0).unwrap(), None);
+    // Base channel which has dedicated mask.
+    let mut rx = CanRx::new(channels.take(14).unwrap());
+    let send_frame = CanFrame::Normal(CanFrameNormal::new(
+        can::Id::Standard(can::StandardId::new(0x1).unwrap()),
+        &[1, 2, 3, 4],
+    ));
+    defmt::info!("sending CAN frame");
+    tx.transmit_frame(send_frame).unwrap();
+    let _frame = nb::block!(rx.receive(true)).expect("invalid CAN rx state");
+    defmt::info!("received CAN frame with data");
+}
+
+#[interrupt]
+#[allow(non_snake_case)]
+fn CAN0() {
+    on_interrupt_can(CanId::Can0, false).unwrap();
+}

va416xx-hal/src/can/asynch.rs

@@ -53,6 +53,8 @@ pub enum InterruptResult {
     },
 }
 
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum InterruptError {
     UnexpectedError,
     InvalidInterruptId(StatusPending),
@@ -95,35 +97,30 @@ pub fn on_interrupt_can(
         return Err(InterruptError::InvalidInterruptId(pending_id));
     }
     match pending_id.interrupt_id().unwrap() {
-        super::regs::CanInterruptId::None => {
+        super::regs::CanInterruptId::None => Ok(InterruptResult::NoInterrupt),
-            return Ok(InterruptResult::NoInterrupt);
+        super::regs::CanInterruptId::Error => Err(InterruptError::CanError(regs.read_diag())),
-        }
-        super::regs::CanInterruptId::Error => {
-            return Err(InterruptError::CanError(regs.read_diag()));
-        }
         super::regs::CanInterruptId::Buffer(idx) => {
             let mut channel = unsafe { CanChannelLowLevel::steal_unchecked(id, idx) };
-            let status = channel.read_status();
+            let status = channel.read_state();
             if status.is_err() {
                 let mut clr = InterruptClear::new_with_raw_value(0);
-                clr.set_buffer(idx as usize, true);
+                clr.set_buffer(idx, true);
                 regs.write_iclr(clr);
                 regs.modify_ien(|mut val| {
-                    val.set_buffer(idx as usize, false);
+                    val.set_buffer(idx, false);
                     val
                 });
                 return Err(InterruptError::InvalidStatus(status.unwrap_err()));
             }
             let buf_state = status.unwrap();
             if buf_state == BufferState::TxNotActive {
-                let tx_state = TX_STATES[idx as usize].load(Ordering::Relaxed);
+                let tx_state = TX_STATES[idx].load(Ordering::Relaxed);
                 clear_and_disable_interrupt(&mut regs, idx);
                 // Handle reading frames, updating states etc.
                 if tx_state == TxChannelState::TxDataFrame as u8 {
                     // Transmission complete.
-                    TX_STATES[idx as usize]
+                    TX_STATES[idx].store(TxChannelState::Finished as u8, Ordering::Relaxed);
-                        .store(TxChannelState::Finished as u8, Ordering::Relaxed);
+                    TX_WAKERS[idx].wake();
-                    TX_WAKERS[idx as usize].wake();
                     return Ok(InterruptResult::TransmissionEvent {
                         channel_index: idx,
                         id: TxEventId::TxDataFrame,
@@ -131,22 +128,21 @@ pub fn on_interrupt_can(
                 }
             }
             if buf_state == BufferState::RxReady {
-                let tx_state = TX_STATES[idx as usize].load(Ordering::Relaxed);
+                let tx_state = TX_STATES[idx].load(Ordering::Relaxed);
                 if tx_state == TxChannelState::TxRtrTransmission as u8 {
                     if reconfigure_tx_rtr_to_tx {
-                        channel.write_status(BufferState::TxNotActive);
+                        channel.write_state(BufferState::TxNotActive);
                         clear_and_disable_interrupt(&mut regs, idx);
                         // Transmission complete.
-                        TX_STATES[idx as usize]
+                        TX_STATES[idx].store(TxChannelState::Idle as u8, Ordering::Relaxed);
-                            .store(TxChannelState::Idle as u8, Ordering::Relaxed);
                     } else {
                         // Do not disable interrupt, channel is now used to receive the frame.
                         clear_interrupt(&mut regs, idx);
                         // Transmission complete.
-                        TX_STATES[idx as usize]
+                        TX_STATES[idx]
                             .store(TxChannelState::TxRtrReception as u8, Ordering::Relaxed);
                     }
-                    TX_WAKERS[idx as usize].wake();
+                    TX_WAKERS[idx].wake();
                     return Ok(InterruptResult::TransmissionEvent {
                         channel_index: idx,
                         id: TxEventId::TxRemoteFrame,
@@ -154,18 +150,18 @@ pub fn on_interrupt_can(
                 }
             }
             if buf_state == BufferState::RxOverrun || buf_state == BufferState::RxFull {
-                let tx_state = TX_STATES[idx as usize].load(Ordering::Relaxed);
+                let tx_state = TX_STATES[idx].load(Ordering::Relaxed);
                 // Do not disable interrupt and assume continuous reception.
                 clear_interrupt(&mut regs, idx);
                 let frame = channel.read_frame_unchecked();
                 if tx_state == TxChannelState::TxRtrReception as u8 {
                     // Reception of response complete. We can release the channel for TX (or RX)
                     // usage again.
-                    TX_STATES[idx as usize].store(TxChannelState::Idle as u8, Ordering::Relaxed);
+                    TX_STATES[idx].store(TxChannelState::Idle as u8, Ordering::Relaxed);
-                    channel.write_status(BufferState::TxNotActive);
+                    channel.write_state(BufferState::TxNotActive);
                 } else {
                     // Assume continous reception of frames.
-                    channel.write_status(BufferState::RxReady);
+                    channel.write_state(BufferState::RxReady);
                 }
                 return Ok(InterruptResult::ReceivedFrame {
                     channel_index: idx,
@@ -205,7 +201,7 @@ fn clear_interrupt(regs: &mut MmioCan<'static>, idx: usize) {
 fn clear_and_disable_interrupt(regs: &mut MmioCan<'static>, idx: usize) {
     clear_interrupt(regs, idx);
     regs.modify_ien(|mut val| {
-        val.set_buffer(idx as usize, false);
+        val.set_buffer(idx, false);
         val
     });
 }

va416xx-hal/src/can/frame.rs

@@ -1,3 +1,5 @@
+pub use embedded_can::{ExtendedId, Id, StandardId};
+
 #[derive(Debug, thiserror::Error)]
 #[error("invalid data size error {0}")]
 pub struct InvalidDataSizeError(usize);

va416xx-hal/src/can/ll.rs

@@ -63,12 +63,12 @@ impl CanChannelLowLevel {
     }
 
     #[inline]
-    pub fn read_status(&self) -> Result<BufferState, u8> {
+    pub fn read_state(&self) -> Result<BufferState, u8> {
         self.msg_buf.read_stat_ctrl().status()
     }
 
     #[inline]
-    pub fn write_status(&mut self, buffer_state: BufferState) {
+    pub fn write_state(&mut self, buffer_state: BufferState) {
         self.msg_buf.modify_stat_ctrl(|mut val| {
             val.set_status(buffer_state);
             val
@@ -90,7 +90,7 @@ impl CanChannelLowLevel {
         Ok(())
     }
 
-    pub fn configure_for_reception_with_standard_id(
+    pub fn set_standard_id(
         &mut self,
         standard_id: embedded_can::StandardId,
         set_rtr: bool,
@@ -101,18 +101,10 @@ impl CanChannelLowLevel {
         }
         self.msg_buf
             .write_id1(BaseId::new_with_raw_value(id1_reg as u32));
-
-        self.msg_buf.write_stat_ctrl(
-            BufStatusAndControl::builder()
-                .with_dlc(u4::new(0))
-                .with_priority(u4::new(0))
-                .with_status(BufferState::RxReady)
-                .build(),
-        );
         Ok(())
     }
 
-    pub fn configure_for_reception_with_extended_id(
+    pub fn set_extended_id(
         &mut self,
         extended_id: embedded_can::ExtendedId,
         set_rtr: bool,
@@ -124,6 +116,10 @@ impl CanChannelLowLevel {
         let id0_reg = ((id_raw & 0x7FFF) << 1) as u16 | set_rtr as u16;
         self.msg_buf
             .write_id0(ExtendedId::new_with_raw_value(id0_reg as u32));
+        Ok(())
+    }
+
+    pub fn configure_for_reception(&mut self) {
         self.msg_buf.write_stat_ctrl(
             BufStatusAndControl::builder()
                 .with_dlc(u4::new(0))
@@ -131,7 +127,6 @@ impl CanChannelLowLevel {
                 .with_status(BufferState::RxReady)
                 .build(),
         );
-        Ok(())
     }
 
     pub fn transmit_frame_unchecked(&mut self, frame: CanFrame) {

va416xx-hal/src/can/mod.rs

@@ -6,7 +6,7 @@ use core::sync::atomic::AtomicBool;
 use arbitrary_int::{u11, u15, u2, u3, u4, u7, Number};
 use embedded_can::Frame;
 use ll::CanChannelLowLevel;
-use regs::{BaseId, BufferState, Control, ExtendedId, MmioCan, TimingConfig};
+use regs::{BaseId, BufferState, Control, MmioCan, TimingConfig};
 
 use crate::{clock::Clocks, enable_peripheral_clock, time::Hertz, PeripheralSelect};
 use libm::roundf;
@@ -230,7 +230,7 @@ impl ClockConfig {
     }
 
     /// Calculate the clock configuration for the given input clock, the target bitrate and for a
-    /// set of timing parameters.
+    /// set of timing parameters. The CAN controller uses the APB1 clock.
     ///
     /// This function basically calculates the necessary prescaler to achieve the given timing
     /// parameters. It also performs sanity and validity checks for the calculated prescaler:
@@ -314,7 +314,7 @@ impl Can {
     /// with the ID in the receive message buffers. This is the default reset configuration for
     /// the global mask as well.
     pub fn set_global_mask_for_exact_id_match(&mut self) {
-        self.regs.write_gmskx(ExtendedId::new_with_raw_value(0));
+        self.regs.write_gmskx(regs::ExtendedId::new_with_raw_value(0));
         self.regs.write_gmskb(BaseId::new_with_raw_value(0));
     }
 
@@ -333,7 +333,7 @@ impl Can {
     /// on that buffer.
     pub fn set_global_mask_for_exact_id_match_with_rtr_masked(&mut self) {
         self.regs.write_gmskx(
-            ExtendedId::builder()
+            regs::ExtendedId::builder()
                 .with_mask_14_0(u15::new(0))
                 .with_xrtr(true)
                 .build(),
@@ -352,7 +352,7 @@ impl Can {
     /// exact match with the ID in the receive message buffers. This is the default reset
     /// configuration for the global mask as well.
     pub fn set_base_mask_for_exact_id_match(&mut self) {
-        self.regs.write_bmskx(ExtendedId::new_with_raw_value(0));
+        self.regs.write_bmskx(regs::ExtendedId::new_with_raw_value(0));
         self.regs.write_bmskb(BaseId::new_with_raw_value(0));
     }
 
@@ -360,7 +360,7 @@ impl Can {
     /// buffers are accepted by the base buffer 14.
     pub fn set_base_mask_for_all_match(&mut self) {
         self.regs
-            .write_bmskx(ExtendedId::new_with_raw_value(0xffff));
+            .write_bmskx(regs::ExtendedId::new_with_raw_value(0xffff));
         self.regs.write_bmskb(BaseId::new_with_raw_value(0xffff));
     }
 
@@ -380,9 +380,17 @@ impl Can {
     }
 
     #[inline]
-    pub fn enable_bufflock(&mut self) {
+    pub fn set_loopback(&mut self, enable: bool) {
+        self.regs.modify_control(|mut val| {
+            val.set_loopback(enable);
+            val
+        });
+    }
+
+    #[inline]
+    pub fn set_bufflock(&mut self, enable: bool) {
         self.regs.modify_control(|mut ctrl| {
-            ctrl.set_bufflock(true);
+            ctrl.set_bufflock(enable);
             ctrl
         });
     }
@@ -400,7 +408,6 @@ impl Can {
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum TxState {
     Idle,
-    TransmissionIdle,
     TransmittingDataFrame,
     TransmittingRemoteFrame,
     AwaitingRemoteFrameReply,
@@ -430,28 +437,20 @@ pub struct CanTx {
 }
 
 impl CanTx {
-    pub fn new(ll: CanChannelLowLevel) -> Self {
+    pub fn new(mut ll: CanChannelLowLevel, tx_priority: Option<u4>) -> Self {
+        ll.configure_for_transmission(tx_priority).unwrap();
         Self {
             ll,
             mode: TxState::Idle,
         }
     }
 
-    pub fn configure_for_transmission(
-        &mut self,
-        tx_priority: Option<u4>,
-    ) -> Result<(), InvalidBufferIndexError> {
-        self.ll.configure_for_transmission(tx_priority).unwrap();
-        self.mode = TxState::TransmissionIdle;
-        Ok(())
-    }
-
     pub fn transmit_frame(&mut self, frame: CanFrame) -> Result<(), InvalidTxStateError> {
         if self.mode == TxState::AwaitingRemoteFrameReply {
-            self.configure_for_transmission(None).unwrap();
+            self.ll.configure_for_transmission(None).unwrap();
-            self.mode = TxState::TransmissionIdle;
+            self.mode = TxState::Idle;
         }
-        if self.mode != TxState::TransmissionIdle {
+        if self.mode != TxState::Idle {
             return Err(InvalidTxStateError(self.mode));
         }
         if !frame.is_remote_frame() {
@@ -467,13 +466,13 @@ impl CanTx {
         if self.mode != TxState::TransmittingDataFrame {
             return Err(nb::Error::Other(InvalidTxStateError(self.mode)));
         }
-        let status = self.ll.read_status();
+        let status = self.ll.read_state();
         if status.is_err() {
             return Err(nb::Error::WouldBlock);
         }
         let status = status.unwrap();
         if status == BufferState::TxNotActive {
-            self.mode = TxState::TransmissionIdle;
+            self.mode = TxState::Idle;
             return Ok(());
         }
         Err(nb::Error::WouldBlock)
@@ -483,7 +482,7 @@ impl CanTx {
         if self.mode != TxState::TransmittingRemoteFrame {
             return Err(nb::Error::Other(InvalidTxStateError(self.mode)));
         }
-        let status = self.ll.read_status();
+        let status = self.ll.read_state();
         if status.is_err() {
             return Err(nb::Error::WouldBlock);
         }
@@ -505,14 +504,19 @@ pub struct CanRx {
 }
 
 impl CanRx {
+    pub fn new(ll: CanChannelLowLevel) -> Self {
+        Self {
+            ll,
+            mode: RxState::Idle,
+        }
+    }
     pub fn configure_for_reception_with_standard_id(
         &mut self,
         standard_id: embedded_can::StandardId,
         set_rtr: bool,
     ) -> Result<(), InvalidBufferIndexError> {
-        self.ll
+        self.ll.set_standard_id(standard_id, set_rtr)?;
-            .configure_for_reception_with_standard_id(standard_id, set_rtr)?;
+        self.configure_for_reception();
-        self.mode = RxState::Receiving;
         Ok(())
     }
 
@@ -521,12 +525,16 @@ impl CanRx {
         extended_id: embedded_can::ExtendedId,
         set_rtr: bool,
     ) -> Result<(), InvalidBufferIndexError> {
-        self.ll
+        self.ll.set_extended_id(extended_id, set_rtr)?;
-            .configure_for_reception_with_extended_id(extended_id, set_rtr)?;
+        self.configure_for_reception();
-        self.mode = RxState::Receiving;
         Ok(())
     }
 
+    pub fn configure_for_reception(&mut self) {
+        self.ll.configure_for_reception();
+        self.mode = RxState::Receiving;
+    }
+
     pub fn receive(
         &mut self,
         reconfigure_for_reception: bool,
@@ -534,7 +542,7 @@ impl CanRx {
         if self.mode != RxState::Receiving {
             return Err(nb::Error::Other(InvalidRxStateError(self.mode)));
         }
-        let status = self.ll.read_status();
+        let status = self.ll.read_state();
         if status.is_err() {
             return Err(nb::Error::WouldBlock);
         }
@@ -542,7 +550,7 @@ impl CanRx {
         if status == BufferState::RxReady || status == BufferState::RxOverrun {
             self.mode = RxState::Idle;
             if reconfigure_for_reception {
-                self.ll.write_status(BufferState::RxReady);
+                self.ll.write_state(BufferState::RxReady);
             }
             return Ok(self.ll.read_frame_unchecked());
         }
@@ -557,25 +565,28 @@ pub struct CanChannels {
 
 impl CanChannels {
     const fn new(id: CanId) -> Self {
-        Self {
+        // Safety: Private function, ownership rules enforced by public API.
-            id,
+        unsafe {
-            channels: [
+            Self {
-                Some(CanChannelLowLevel::steal_unchecked(id, 0)),
+                id,
-                Some(CanChannelLowLevel::steal_unchecked(id, 1)),
+                channels: [
-                Some(CanChannelLowLevel::steal_unchecked(id, 2)),
+                    Some(CanChannelLowLevel::steal_unchecked(id, 0)),
-                Some(CanChannelLowLevel::steal_unchecked(id, 3)),
+                    Some(CanChannelLowLevel::steal_unchecked(id, 1)),
-                Some(CanChannelLowLevel::steal_unchecked(id, 4)),
+                    Some(CanChannelLowLevel::steal_unchecked(id, 2)),
-                Some(CanChannelLowLevel::steal_unchecked(id, 5)),
+                    Some(CanChannelLowLevel::steal_unchecked(id, 3)),
-                Some(CanChannelLowLevel::steal_unchecked(id, 6)),
+                    Some(CanChannelLowLevel::steal_unchecked(id, 4)),
-                Some(CanChannelLowLevel::steal_unchecked(id, 7)),
+                    Some(CanChannelLowLevel::steal_unchecked(id, 5)),
-                Some(CanChannelLowLevel::steal_unchecked(id, 8)),
+                    Some(CanChannelLowLevel::steal_unchecked(id, 6)),
-                Some(CanChannelLowLevel::steal_unchecked(id, 9)),
+                    Some(CanChannelLowLevel::steal_unchecked(id, 7)),
-                Some(CanChannelLowLevel::steal_unchecked(id, 10)),
+                    Some(CanChannelLowLevel::steal_unchecked(id, 8)),
-                Some(CanChannelLowLevel::steal_unchecked(id, 11)),
+                    Some(CanChannelLowLevel::steal_unchecked(id, 9)),
-                Some(CanChannelLowLevel::steal_unchecked(id, 12)),
+                    Some(CanChannelLowLevel::steal_unchecked(id, 10)),
-                Some(CanChannelLowLevel::steal_unchecked(id, 13)),
+                    Some(CanChannelLowLevel::steal_unchecked(id, 11)),
-                Some(CanChannelLowLevel::steal_unchecked(id, 14)),
+                    Some(CanChannelLowLevel::steal_unchecked(id, 12)),
-            ],
+                    Some(CanChannelLowLevel::steal_unchecked(id, 13)),
+                    Some(CanChannelLowLevel::steal_unchecked(id, 14)),
+                ],
+            }
         }
     }
 

va416xx-hal/src/can/regs.rs

@@ -8,6 +8,7 @@ pub const CAN_1_BASE: usize = 0x4001_4400;
 
 #[derive(Debug, PartialEq, Eq)]
 #[bitbybit::bitenum(u4)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum BufferState {
     /// Passive channel.
     RxNotActive = 0b0000,
@@ -207,6 +208,7 @@ pub enum CanInterruptId {
 
 #[bitbybit::bitfield(u32)]
 #[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct StatusPending {
     #[bits(5..=7, r)]
     ns: u3,

va416xx-hal/src/lib.rs

@@ -33,7 +33,7 @@ use gpio::Port;
 pub use va416xx as device;
 pub use va416xx as pac;
 
-pub mod prelude;
+pub mod can;
 pub mod clock;
 pub mod dma;
 pub mod edac;
@@ -41,12 +41,12 @@ pub mod gpio;
 pub mod i2c;
 pub mod irq_router;
 pub mod pins;
+pub mod prelude;
 pub mod pwm;
 pub mod spi;
 pub mod time;
 pub mod timer;
 pub mod uart;
-pub mod can;
 pub mod wdt;
 
 #[cfg(feature = "va41630")]